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Searched refs:getSpatialVelocity (Results 1 – 24 of 24) sorted by relevance

/dports/misc/dartsim/dart-6.11.1/dart/dynamics/
H A DFrame.cpp140 const Eigen::Vector6d& Frame::getSpatialVelocity() const in getSpatialVelocity() function in dart::dynamics::Frame
159 Eigen::Vector6d Frame::getSpatialVelocity( in getSpatialVelocity() function in dart::dynamics::Frame
168 return getSpatialVelocity(); in getSpatialVelocity()
171 return math::AdR(getWorldTransform(), getSpatialVelocity()); in getSpatialVelocity()
176 const Eigen::Vector6d& result = (getSpatialVelocity() in getSpatialVelocity()
191 return getSpatialVelocity(_offset, Frame::World(), this); in getSpatialVelocity()
195 Eigen::Vector6d Frame::getSpatialVelocity( in getSpatialVelocity() function in dart::dynamics::Frame
203 Eigen::Vector6d v = getSpatialVelocity(); in getSpatialVelocity()
300 getSpatialVelocity(), in getSpatialAcceleration()
303 _relativeTo->getSpatialVelocity()))) in getSpatialAcceleration()
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H A DFreeJoint.cpp262 getChildBodyNode()->getParentFrame()->getSpatialVelocity()); in setSpatialVelocity()
270 getChildBodyNode()->getParentFrame()->getSpatialVelocity()); in setSpatialVelocity()
273 relativeTo->getSpatialVelocity()); in setSpatialVelocity()
296 = getChildBodyNode()->getSpatialVelocity().head<3>(); in setLinearVelocity()
302 ->getSpatialVelocity(relativeTo, getChildBodyNode()) in setLinearVelocity()
343 = getChildBodyNode()->getSpatialVelocity().tail<3>(); in setAngularVelocity()
349 ->getSpatialVelocity(relativeTo, getChildBodyNode()) in setAngularVelocity()
423 getChildBodyNode()->getSpatialVelocity(), in setSpatialAcceleration()
435 getChildBodyNode()->getSpatialVelocity(), in setSpatialAcceleration()
442 getChildBodyNode()->getSpatialVelocity(), in setSpatialAcceleration()
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H A DFrame.hpp108 const Eigen::Vector6d& getSpatialVelocity() const;
112 Eigen::Vector6d getSpatialVelocity(
117 Eigen::Vector6d getSpatialVelocity(const Eigen::Vector3d& _offset) const;
120 Eigen::Vector6d getSpatialVelocity(
H A DSimpleFrame.cpp125 = _otherFrame->getSpatialVelocity(_refFrame, Frame::World()); in copy()
273 = math::ad(getSpatialVelocity(), getRelativeSpatialVelocity()); in getPartialAcceleration()
H A DBodyNode.cpp636 return getSpatialVelocity(getLocalCOM()); in getCOMSpatialVelocity()
643 return getSpatialVelocity(getLocalCOM(), _relativeTo, _inCoordinatesOf); in getCOMSpatialVelocity()
1631 getSpatialVelocity(); in updateVelocity()
1640 mPartialAcceleration, getSpatialVelocity()); in updatePartialAcceleration()
1679 const Eigen::Vector6d& V = getSpatialVelocity(); in updateTransmittedForceID()
1739 const Eigen::Vector6d& V = getSpatialVelocity(); in updateBiasForce()
2002 const Eigen::Vector6d& V = getSpatialVelocity(); in computeKineticEnergy()
2024 return (mI * getSpatialVelocity()).tail<3>(); in getLinearMomentum()
2033 return math::dAdT(T, mI * getSpatialVelocity()).head<3>(); in getAngularMomentum()
2124 const Eigen::Vector6d& V = getSpatialVelocity(); in aggregateCombinedVector()
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H A DPointMass.cpp742 const Eigen::Vector6d& v_parent = mParentSoftBodyNode->getSpatialVelocity(); in updateVelocity()
753 mEta = mParentSoftBodyNode->getSpatialVelocity().head<3>().cross(dq); in updatePartialAcceleration()
774 mF += mParentSoftBodyNode->getSpatialVelocity().head<3>().cross( in updateTransmittedForceID()
827 mB = mParentSoftBodyNode->getSpatialVelocity().head<3>().cross( in updateBiasForceFD()
H A DMetaSkeleton.cpp1059 const Eigen::Vector6d V = _relativeTo->getSpatialVelocity(_node, _relativeTo); in getJacobianSpatialDeriv()
1084 const Eigen::Vector6d V = _relativeTo->getSpatialVelocity(_node, _relativeTo); in getJacobianSpatialDeriv()
H A DSoftBodyNode.cpp617 const Eigen::Vector6d& V = getSpatialVelocity(); in updateTransmittedForceID()
735 const Eigen::Vector6d& V = getSpatialVelocity(); in updateBiasForce()
/dports/misc/dartsim/dart-6.11.1/python/dartpy/dynamics/
H A DFrame.cpp84 return self->getSpatialVelocity(); in Frame()
91 return self->getSpatialVelocity(relativeTo, inCoordinatesOf); in Frame()
98 -> Eigen::Vector6d { return self->getSpatialVelocity(offset); }, in Frame()
106 return self->getSpatialVelocity( in Frame()
/dports/misc/dartsim/dart-6.11.1/unittests/comprehensive/
H A Dtest_Frames.cpp219 Eigen::Vector6d v_actual = F->getSpatialVelocity(); in TEST()
334 Eigen::Vector6d v_rel = F->getSpatialVelocity(P, F); in TEST()
538 F->setRelativeSpatialVelocity(T->getSpatialVelocity(P, F)); in set_relative_values()
577 T->getSpatialVelocity(), F->getSpatialVelocity(), tolerance); in check_world_values()
615 T->getSpatialVelocity(relativeTo, inCoordinatesOf), in check_values()
616 F->getSpatialVelocity(relativeTo, inCoordinatesOf), in check_values()
H A Dtest_Dynamics.cpp308 Vector6d SpatialVelFk = bn->getSpatialVelocity(Frame::World(), refFrame); in compareBodyNodeFkToJacobian()
497 = bn->getSpatialVelocity(offset, Frame::World(), refFrame); in compareBodyNodeFkToJacobian()
706 Vector6d SpatialVelFk = bn->getSpatialVelocity(relativeTo, refFrame); in compareBodyNodeFkToJacobianRelative()
806 Vector6d SpatialVelFk = bn->getSpatialVelocity(_offset, relativeTo, refFrame); in compareBodyNodeFkToJacobianRelative()
1224 Vector6d V_actual = body->getSpatialVelocity(); in testFiniteDifferenceBodyNodeVelocity()
1482 bool checkV = equals(body->getSpatialVelocity(), Vmap[body]); in testForwardKinematicsSkeleton()
1502 std::cout << "actual V : " << body->getSpatialVelocity().transpose() in testForwardKinematicsSkeleton()
H A Dtest_Joints.cpp1479 actualVel = bodyNode1->getSpatialVelocity( in TEST_F()
1489 actualVel = bodyNode1->getSpatialVelocity(relativeTo, inCoordinatesOf); in TEST_F()
1570 actualVel = bodyNode1->getSpatialVelocity(relativeTo, inCoordinatesOf); in TEST_F()
/dports/misc/dartsim/dart-6.11.1/python/tests/unit/dynamics/
H A Dtest_body_node.py20 np.array(body.getSpatialVelocity()), np.zeros(6)) is True
/dports/misc/dartsim/dart-6.11.1/dart/constraint/
H A DWeldJointConstraint.cpp187 Eigen::Vector6d negativeVel = -mBodyNode1->getSpatialVelocity(); in getInformation()
189 negativeVel += mJacobian2 * mBodyNode2->getSpatialVelocity(); in getInformation()
H A DBallJointConstraint.cpp164 Eigen::Vector3d negativeVel = -mJacobian1 * mBodyNode1->getSpatialVelocity(); in getInformation()
166 negativeVel += mJacobian2 * mBodyNode2->getSpatialVelocity(); in getInformation()
H A DContactConstraint.cpp745 relVelMap -= mSpatialNormalA.transpose() * mBodyNodeA->getSpatialVelocity(); in getRelVelocity()
746 relVelMap -= mSpatialNormalB.transpose() * mBodyNodeB->getSpatialVelocity(); in getRelVelocity()
H A DSoftContactConstraint.cpp926 _vel[i] -= mJacobians1[i].dot(mBodyNode1->getSpatialVelocity()); in getRelVelocity()
931 _vel[i] -= mJacobians2[i].dot(mBodyNode2->getSpatialVelocity()); in getRelVelocity()
/dports/misc/dartsim/dart-6.11.1/examples/speed_test/
H A Dmain.cpp72 skel->getBodyNode(i)->getSpatialVelocity(); in testForwardKinematicSpeed()
/dports/misc/dartsim/dart-6.11.1/tutorials/tutorial_dominoes_finished/
H A Dmain.cpp163 Eigen::Vector6d de = -mEndEffector->getSpatialVelocity( in setOperationalSpaceForces()
/dports/misc/dartsim/dart-6.11.1/tutorials/tutorial_collisions_finished/
H A Dmain.cpp269 object->getJoint(0)->setVelocities(ref.getSpatialVelocity()); in addObject()
/dports/graphics/magnum-examples/magnum-examples-2019.10/src/dart/
H A DDartExample.cpp558 …currentWorldSpatialVelocity = _model->getBodyNode("iiwa_link_ee")->getSpatialVelocity(dart::dynami… in updateManipulator()
/dports/misc/dartsim/dart-6.11.1/docs/readthedocs/tutorials/
H A Ddominoes.md492 Eigen::Vector6d de = -mEndEffector->getSpatialVelocity(
H A Dbiped.md308 | getSpatialVelocity | Return the spatial velocity of this BodyNode in the coordinates of the B…
H A Dcollisions.md710 object->getJoint(0)->setVelocities(ref.getSpatialVelocity());